def start(dset=None, frame_num=0):
main.initialize()
if not FOR_REAL:
if dset is None:
dataset.load_random_dataset()
else:
dataset.load_dataset(dset)
while dataset.frame_num < frame_num:
dataset.advance()
name = dset
name = os.path.split(name)[1]
custom = os.path.join('data/sets/', name, 'gt.txt')
if os.path.exists(custom):
# Try dataset directory first
fname = custom
else:
import re
# Fall back on generic ground truth file
match = re.match('.*_z(\d)m_(.*)', name)
number = int(match.groups()[0])
fname = 'data/experiments/gt/gt%d.txt' % number
with open(fname) as f:
GT = grid.gt2grid(f.read())
grid.initialize_with_groundtruth(GT)
else:
config.load('data/newest_calibration')
opennpy.align_depth_to_rgb()
dataset.setup_opencl()
def start(dset=None, frame_num=0):
main.initialize()
if not FOR_REAL:
if dset is None:
dataset.load_random_dataset()
else:
dataset.load_dataset(dset)
while dataset.frame_num < frame_num:
dataset.advance()
name = dset
name = os.path.split(name)[1]
custom = os.path.join('data/sets/', name, 'gt.txt')
if os.path.exists(custom):
# Try dataset directory first
fname = custom
else:
import re
# Fall back on generic ground truth file
match = re.match('.*_z(\d)m_(.*)', name)
number = int(match.groups()[0])
fname = 'data/experiments/gt/gt%d.txt' % number
with open(fname) as f:
GT = grid.gt2grid(f.read())
grid.initialize_with_groundtruth(GT)
else:
config.load('data/newest_calibration')
opennpy.align_depth_to_rgb()
dataset.setup_opencl()
def run_grid():
datasets = glob.glob('data/sets/study_*')
try:
shutil.rmtree(out_path)
except:
pass
os.mkdir(out_path)
for name in datasets:
#for name in ('data/sets/cube',):
dataset.load_dataset(name)
name = os.path.split(name)[1]
d = dict(name=name)
folder = os.path.join(out_path, name)
os.mkdir(folder)
global modelmat
modelmat = None
main.initialize()
import re
number = int(re.match('.*_z(\d)m_.*', name).groups()[0])
with open('data/experiments/gt/gt%d.txt' % number) as f:
GT = grid.gt2grid(f.read())
grid.initialize_with_groundtruth(GT)
total = 0
output = []
try:
while 1:
try:
dataset.advance()
except (IOError, ValueError):
break
if dataset.frame_num % 30 == 0:
print name, dataset.frame_num
t1 = time.time()
once()
t2 = time.time()
total += t2 - t1
output.append((main.R_correct.copy(), grid.occ.copy()))
except Exception as e:
print e
d['frames'] = dataset.frame_num
d['time'] = total
d['output'] = output
with open(os.path.join(folder, 'output.pkl'), 'w') as f:
pickle.dump(d, f)
with open(os.path.join(folder, 'final_output.txt'), 'w') as f:
f.write(grid.grid2gt(grid.occ))
def run_grid():
datasets = glob.glob('data/sets/study_*')
try:
shutil.rmtree(out_path)
except:
pass
os.mkdir(out_path)
for name in datasets:
#for name in ('data/sets/cube',):
dataset.load_dataset(name)
name = os.path.split(name)[1]
d = dict(name=name)
folder = os.path.join(out_path, name)
os.mkdir(folder)
global modelmat
modelmat = None
main.initialize()
import re
number = int(re.match('.*_z(\d)m_.*', name).groups()[0])
with open('data/experiments/gt/gt%d.txt' % number) as f:
GT = grid.gt2grid(f.read())
grid.initialize_with_groundtruth(GT)
total = 0
output = []
try:
while 1:
try:
dataset.advance()
except (IOError, ValueError):
break
if dataset.frame_num % 30 == 0:
print name, dataset.frame_num
t1 = time.time()
once()
t2 = time.time()
total += t2-t1
output.append((main.R_correct.copy(), grid.occ.copy()))
except Exception as e:
print e
d['frames'] = dataset.frame_num
d['time'] = total
d['output'] = output
with open(os.path.join(folder, 'output.pkl'),'w') as f:
pickle.dump(d, f)
with open(os.path.join(folder, 'final_output.txt'),'w') as f:
f.write(grid.grid2gt(grid.occ))
def run_grid():
datasets = glob.glob('data/sets/study_*')
try:
os.mkdir(out_path)
except OSError:
print "Couldn't make create output directory [%s], it may already exist." % out_path
print "Remove it and try again."
return False
for name in datasets:
dataset.load_dataset(name)
name = os.path.split(name)[1]
d = dict(name=name)
folder = os.path.join(out_path, name)
os.mkdir(folder)
main.initialize()
import re
number = int(re.match('.*_z(\d)m_.*', name).groups()[0])
with open('data/experiments/gt/gt%d.txt' % number) as f:
GT = grid.gt2grid(f.read())
grid.initialize_with_groundtruth(GT)
total = 0
output = []
try:
while 1:
try:
dataset.advance()
except (IOError, ValueError):
break
if dataset.frame_num % 30 == 0:
print name, dataset.frame_num
t1 = time.time()
once()
t2 = time.time()
total += t2-t1
output.append((main.R_correct.copy(), grid.occ.copy()))
except Exception as e:
print e
d['frames'] = dataset.frame_num
d['time'] = total
d['output'] = output
with open(os.path.join(folder, 'output.pkl'),'w') as f:
pickle.dump(d, f)
with open(os.path.join(folder, 'final_output.txt'),'w') as f:
f.write(grid.grid2gt(grid.occ))
def start(dset=None, frame_num=0):
main.initialize()
#with open('data/experiments/collab/2011.txt') as f:
global target_model
with open('data/experiments/collab/block.txt') as f:
target_model = grid.gt2grid(f.read())
#grid.initialize_with_groundtruth(GT)
if not FOR_REAL:
if dset is None:
dataset.load_random_dataset()
else:
dataset.load_dataset(dset)
while dataset.frame_num < frame_num:
dataset.advance()
else:
config.load('data/newest_calibration')
opennpy.align_depth_to_rgb()
dataset.setup_opencl()
def run_error():
datasets = glob.glob('data/sets/study*')
datasets.sort()
d = {}
for name in datasets:
if 'user4' in name: continue
dataset.load_dataset(name)
name = os.path.split(name)[1]
print name
# Open the ground truth file
custom = os.path.join('data/sets/', name, 'gt.txt')
if os.path.exists(custom):
# Try dataset directory first
fname = custom
else:
import re
# Fall back on generic ground truth file
match = re.match('.*_z(\d)m_(.*)', name)
if match is None:
continue
number = int(match.groups()[0])
fname = 'data/experiments/gt/gt%d.txt' % number
# Load the ground truth file
removed = None
added = None
with open(fname) as fp:
s = fp.read()
config.GT = grid.gt2grid(s, chars='*')
removed = grid.gt2grid(s, chars='rR')
added = grid.gt2grid(s, chars='aA')
import re
number, kind = re.match('.*_z(\d)m_(.*)$', name).groups()
number = int(number)
with open(
os.path.join('data/experiments/output/', name,
'final_output.txt'), 'r') as f:
final_output = f.read()
out = grid.gt2grid(final_output)
gt = config.GT
try:
c, _ = hashalign.find_best_alignment(out, 0 * out, gt, 0 * gt)
except ValueError:
red = gt | added
yellow = 0 * out
green = 0 * out
purple = 0 * out
blue = 0 * out
else:
gt = hashalign.apply_correction(gt, *c)
added = hashalign.apply_correction(added, *c)
removed = hashalign.apply_correction(removed, *c)
should_be_there = gt | added
shouldnot_be_there = (~gt & ~added) | removed
# Sanity check
assert np.all(shouldnot_be_there ^ should_be_there)
red = ~out & should_be_there
yellow = out & shouldnot_be_there # Incorrect add
purple = ~out & removed # Correct remove
blue = out & added # Correct add
green = out & gt # Correct block place
# Sanity checks
assert np.all(red + yellow + purple + blue + green <= 1)
assert np.sum(red) + np.sum(blue) + np.sum(green) == np.sum(
should_be_there)
err = np.sum(yellow | red)
totalblocks = np.sum(red | green | blue)
print err, totalblocks, float(err) / totalblocks
import re
re.match('dfsdf', name)
#_,_,err1,_,_ = grid.xcorr_correction(out, config.GT)
#assert err == err1/float(gt.sum())
d[name] = {
'err': err,
'tot': (red + green + blue).sum(),
'rel': err / float(totalblocks),
'num': number,
'type': kind,
}
d[name].update(
dict(green=green, red=red, yellow=yellow, purple=purple,
blue=blue))
with open('data/experiments/error_output.pkl', 'w') as f:
pickle.dump(d, f)
def load_gt():
global GT
with open('data/experiments/gt/gt1.txt') as f:
GT = grid.gt2grid(f.read())
def run_grid(clearout=True):
global ds
ds = []
if clearout:
try:
shutil.rmtree(out_path)
except:
pass
try:
os.makedirs(out_path)
except OSError:
pass
for name in ('ThreeCanvas.js','Plane.js','Cube.js','video.js',
'video-js.css','default.jpg','blocksetup.js'):
shutil.copy('makewww/' + name, out_path)
with open('makewww/blockviewiframetemplate.html','r') as f:
tmp = template.Template(f.read())
datasets = glob.glob('data/sets/study*')
datasets.sort()
total = len(datasets)
for x,name in enumerate(datasets):
dataset.load_dataset(name)
name = os.path.split(name)[1]
# Open the ground truth file
custom = os.path.join('data/sets/', name, 'gt.txt')
if os.path.exists(custom):
# Try dataset directory first
fname = custom
else:
# Fall back on generic ground truth file
match = re.match('.*_z(\d)m_.*', name)
if match is None:
continue
number = int(match.groups()[0])
fname = 'data/experiments/gt/gt%d.txt' % number
# Load the ground truth file
removed = None
added = None
with open(fname) as fp:
s = fp.read()
config.GT = grid.gt2grid(s, chars='*')
removed = grid.gt2grid(s, chars='rR')
added = grid.gt2grid(s, chars='aA')
try:
with open(os.path.join('data/experiments/output/', name,
'output.pkl'),'r') as f:
output = pickle.load(f)
except IOError:
continue
with open(os.path.join('data/experiments/output/',name,
'final_output.txt'),'r') as f:
final_output = f.read()
folder = os.path.join(out_path, name)
os.mkdir(folder)
print "(%d/%d)" % (x+1,total), name
out = grid.gt2grid(final_output)
gt = config.GT
try:
c,_ = hashalign.find_best_alignment(out, 0*out, gt, 0*gt)
except ValueError:
red = gt | added
yellow = 0*out
green = 0*out
purple = 0*out
blue = 0*out
else:
gt = hashalign.apply_correction(gt, *c)
added = hashalign.apply_correction(added, *c)
removed = hashalign.apply_correction(removed, *c)
should_be_there = gt | added
shouldnot_be_there = (~gt & ~added) | removed
# Sanity check
assert np.all(shouldnot_be_there ^ should_be_there)
red = ~out & should_be_there
yellow = out & shouldnot_be_there # Incorrect add
purple = ~out & removed # Correct remove
blue = out & added # Correct add
green = out & gt # Correct block place
# Sanity checks
assert np.all((red+yellow+purple+blue+green) <= 1)
assert np.sum(red) + np.sum(blue) + np.sum(green) == np.sum(should_be_there)
#err = np.sum(yellow | red)
#print err, gt.sum(), err/float(gt.sum())
# Output display
with open(os.path.join(out_path, '%s_block.html' % name),'w') as f:
f.write(tmp.render(template.Context(dict(
red=gridstr(red),
blue=gridstr(blue),
green=gridstr(green),
yellow=gridstr(yellow),
purple=gridstr(purple),
msg="Output"
))))
# Ground truth display
with open(os.path.join(out_path, '%s_gt.html' % name),'w') as f:
f.write(tmp.render(template.Context(dict(
blue=gridstr(added),
green=gridstr(gt),
purple=gridstr(removed),
red='[]',
yellow='[]',
msg="Ground Truth"
))))
totalblocks = np.sum(green + red + blue)
incorrect = np.sum(red + yellow)
with open(os.path.join(out_path, '%s_block.txt' % name) ,'w') as f:
f.write(grid.gt2grid(final_output))
# Only take the metadata we need from the output
d = dict([(key,output[key]) for key in ('frames', 'time')])
d['name'] = name
d['total'] = totalblocks
d['incorrect'] = incorrect
d['error'] = float(incorrect) / totalblocks * 100
ds.append(d)
return ds
def load_gt():
global GT
with open('data/experiments/gt/gt1.txt') as f:
GT = grid.gt2grid(f.read())
def run_grid(clearout=True):
global ds
ds = []
if clearout:
try:
shutil.rmtree(out_path)
except:
pass
try:
os.makedirs(out_path)
except OSError:
pass
for name in ('ThreeCanvas.js', 'Plane.js', 'Cube.js', 'video.js',
'video-js.css', 'default.jpg', 'blocksetup.js'):
shutil.copy('makewww/' + name, out_path)
with open('makewww/blockviewiframetemplate.html', 'r') as f:
tmp = template.Template(f.read())
datasets = glob.glob('data/sets/study*')
datasets.sort()
total = len(datasets)
for x, name in enumerate(datasets):
dataset.load_dataset(name)
name = os.path.split(name)[1]
# Open the ground truth file
custom = os.path.join('data/sets/', name, 'gt.txt')
if os.path.exists(custom):
# Try dataset directory first
fname = custom
else:
# Fall back on generic ground truth file
match = re.match('.*_z(\d)m_.*', name)
if match is None:
continue
number = int(match.groups()[0])
fname = 'data/experiments/gt/gt%d.txt' % number
# Load the ground truth file
removed = None
added = None
with open(fname) as fp:
s = fp.read()
config.GT = grid.gt2grid(s, chars='*')
removed = grid.gt2grid(s, chars='rR')
added = grid.gt2grid(s, chars='aA')
try:
with open(
os.path.join('data/experiments/output/', name,
'output.pkl'), 'r') as f:
output = pickle.load(f)
except IOError:
continue
with open(
os.path.join('data/experiments/output/', name,
'final_output.txt'), 'r') as f:
final_output = f.read()
folder = os.path.join(out_path, name)
os.mkdir(folder)
print "(%d/%d)" % (x + 1, total), name
out = grid.gt2grid(final_output)
gt = config.GT
try:
c, _ = hashalign.find_best_alignment(out, 0 * out, gt, 0 * gt)
except ValueError:
red = gt | added
yellow = 0 * out
green = 0 * out
purple = 0 * out
blue = 0 * out
else:
gt = hashalign.apply_correction(gt, *c)
added = hashalign.apply_correction(added, *c)
removed = hashalign.apply_correction(removed, *c)
should_be_there = gt | added
shouldnot_be_there = (~gt & ~added) | removed
# Sanity check
assert np.all(shouldnot_be_there ^ should_be_there)
red = ~out & should_be_there
yellow = out & shouldnot_be_there # Incorrect add
purple = ~out & removed # Correct remove
blue = out & added # Correct add
green = out & gt # Correct block place
# Sanity checks
assert np.all((red + yellow + purple + blue + green) <= 1)
assert np.sum(red) + np.sum(blue) + np.sum(green) == np.sum(
should_be_there)
#err = np.sum(yellow | red)
#print err, gt.sum(), err/float(gt.sum())
# Output display
with open(os.path.join(out_path, '%s_block.html' % name), 'w') as f:
f.write(
tmp.render(
template.Context(
dict(red=gridstr(red),
blue=gridstr(blue),
green=gridstr(green),
yellow=gridstr(yellow),
purple=gridstr(purple),
msg="Output"))))
# Ground truth display
with open(os.path.join(out_path, '%s_gt.html' % name), 'w') as f:
f.write(
tmp.render(
template.Context(
dict(blue=gridstr(added),
green=gridstr(gt),
purple=gridstr(removed),
red='[]',
yellow='[]',
msg="Ground Truth"))))
totalblocks = np.sum(green + red + blue)
incorrect = np.sum(red + yellow)
with open(os.path.join(out_path, '%s_block.txt' % name), 'w') as f:
f.write(grid.gt2grid(final_output))
# Only take the metadata we need from the output
d = dict([(key, output[key]) for key in ('frames', 'time')])
d['name'] = name
d['total'] = totalblocks
d['incorrect'] = incorrect
d['error'] = float(incorrect) / totalblocks * 100
ds.append(d)
return ds
def run_error():
datasets = glob.glob('data/sets/study*')
datasets.sort()
d = {}
for name in datasets:
dataset.load_dataset(name)
name = os.path.split(name)[1]
print name
# Open the ground truth file
custom = os.path.join('data/sets/', name, 'gt.txt')
if os.path.exists(custom):
# Try dataset directory first
fname = custom
else:
import re
# Fall back on generic ground truth file
match = re.match('.*_z(\d)m_(.*)', name)
if match is None:
continue
number = int(match.groups()[0])
fname = 'data/experiments/gt/gt%d.txt' % number
# Load the ground truth file
removed = None
added = None
with open(fname) as fp:
s = fp.read()
config.GT = grid.gt2grid(s, chars='*')
removed = grid.gt2grid(s, chars='rR')
added = grid.gt2grid(s, chars='aA')
import re
number, kind = re.match('.*_z(\d)m_(.*)$', name).groups()
number = int(number)
with open(os.path.join('data/experiments/output/',name,
'final_output.txt'),'r') as f:
final_output = f.read()
out = grid.gt2grid(final_output)
gt = config.GT
try:
c,_ = hashalign.find_best_alignment(out, 0*out, gt, 0*gt)
except ValueError:
red = gt | added
yellow = 0*out
green = 0*out
purple = 0*out
blue = 0*out
else:
gt = hashalign.apply_correction(gt, *c)
added = hashalign.apply_correction(added, *c)
removed = hashalign.apply_correction(removed, *c)
should_be_there = gt | added
shouldnot_be_there = (~gt & ~added) | removed
# Sanity check
assert np.all(shouldnot_be_there ^ should_be_there)
red = ~out & should_be_there
yellow = out & shouldnot_be_there # Incorrect add
purple = ~out & removed # Correct remove
blue = out & added # Correct add
green = out & gt # Correct block place
# Sanity checks
assert np.all(red+yellow+purple+blue+green <= 1)
assert np.sum(red) + np.sum(blue) + np.sum(green) == np.sum(should_be_there)
err = np.sum(yellow | red)
totalblocks = np.sum(red | green | blue)
print err, totalblocks, float(err)/totalblocks
#_,_,err1,_,_ = grid.xcorr_correction(out, config.GT)
#assert err == err1/float(gt.sum())
d[name] = {'err': err,
'tot': (red+green+blue).sum(),
'rel': err/float(totalblocks),
'num': number,
'type': kind,}
d[name].update(dict(green=green,
red=red,
yellow=yellow,
purple=purple,
blue=blue))
with open('data/experiments/error_output.pkl','w') as f:
pickle.dump(d, f)
